import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():
    autopartol_path=get_package_share_directory('autoprtol_robot')
    defualt_config_path=autopartol_path+'/config/partol_config.yaml'

    action_partol_node=launch_ros.actions.Node(
        package='autoprtol_robot',
        executable='partol_node',
        output='screen',
        parameters=[defualt_config_path],
    )
    
    action_speaker_node=launch_ros.actions.Node(
        package='autoprtol_robot',
        executable='speaker',
        output='screen',
    )
    return launch.LaunchDescription([
        action_partol_node,
        action_speaker_node,

    ])